Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
67
Example of response if the opening
:
is completed 09 03 06 F9 00 00 00 0D 00 56 4C
Bits
Description
09
SlaveID
03
Function Code 03 (Read Holding Registers)
06
Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
F900
Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position
Request" and gOBJ = 3 for "Fingers are at requested position"
0000
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells that the command was
well received and that the GRIPPER STATUS is valid.
0D00
Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have reached their software limit)
564C
Cyclic Redundancy Check (CRC)
Step 9: Loop back to step 3 if other objects have to be gripped.
